repo stringlengths 7 90 | file_url stringlengths 81 315 | file_path stringlengths 4 228 | content stringlengths 0 32.8k | language stringclasses 1
value | license stringclasses 7
values | commit_sha stringlengths 40 40 | retrieved_at stringdate 2026-01-04 14:38:15 2026-01-05 02:33:18 | truncated bool 2
classes |
|---|---|---|---|---|---|---|---|---|
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/selfdrived/helpers.py | selfdrive/selfdrived/helpers.py | import math
from enum import StrEnum, auto
from cereal import car, messaging
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.helpers import Pose
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
from opendbc.car.lateral import ISO_LATERAL_ACCEL
from opendbc.car.interfaces import ACCE... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/selfdrived/alertmanager.py | selfdrive/selfdrived/alertmanager.py | import copy
import os
import json
from collections import defaultdict
from dataclasses import dataclass
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert
with open(os.path.join(BASEDIR, "selfdrive/selfdrived/ale... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/selfdrived/tests/test_alertmanager.py | selfdrive/selfdrived/tests/test_alertmanager.py | import random
from openpilot.selfdrive.selfdrived.events import Alert, EmptyAlert, EVENTS
from openpilot.selfdrive.selfdrived.alertmanager import AlertManager
class TestAlertManager:
def test_duration(self):
"""
Enforce that an alert lasts for max(alert duration, duration the alert is added)
"""
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/selfdrived/tests/test_state_machine.py | selfdrive/selfdrived/tests/test_state_machine.py | from cereal import log
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert
State = log.SelfdriveState.OpenpilotState
# The event types that maintain the... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/selfdrived/tests/test_alerts.py | selfdrive/selfdrived/tests/test_alerts.py | import copy
import json
import os
import random
from PIL import Image, ImageDraw, ImageFont
from cereal import log, car
from cereal.messaging import SubMaster
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET
from... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/pandad/pandad.py | selfdrive/pandad/pandad.py | #!/usr/bin/env python3
# simple pandad wrapper that updates the panda first
import os
import usb1
import time
import signal
import subprocess
from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
from openpilot.system.h... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/pandad/__init__.py | selfdrive/pandad/__init__.py | # Cython, now uses scons to build
from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
assert can_list_to_can_capnp
assert can_capnp_to_list
| python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/pandad/tests/test_pandad_spi.py | selfdrive/pandad/tests/test_pandad_spi.py | import os
import time
import numpy as np
import pytest
import random
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
JUNGLE... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/pandad/tests/test_pandad.py | selfdrive/pandad/tests/test_pandad.py | import os
import pytest
import time
import cereal.messaging as messaging
from cereal import log
from openpilot.common.gpio import gpio_set, gpio_init
from panda import Panda, PandaDFU
from openpilot.system.manager.process_config import managed_processes
from openpilot.system.hardware import HARDWARE
from openpilot.sys... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/pandad/tests/__init__.py | selfdrive/pandad/tests/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/pandad/tests/test_pandad_loopback.py | selfdrive/pandad/tests/test_pandad_loopback.py | import os
import copy
import random
import time
import pytest
from collections import defaultdict
from pprint import pprint
import cereal.messaging as messaging
from cereal import car, log
from opendbc.car.can_definitions import CanData
from openpilot.common.utils import retry
from openpilot.common.params import Param... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/constants.py | selfdrive/modeld/constants.py | import numpy as np
def index_function(idx, max_val=192, max_idx=32):
return (max_val) * ((idx/max_idx)**2)
class ModelConstants:
# time and distance indices
IDX_N = 33
T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/modeld.py | selfdrive/modeld/modeld.py | #!/usr/bin/env python3
import os
from openpilot.system.hardware import TICI
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
USBGPU = "USBGPU" in os.environ
if USBGPU:
os.environ['DEV'] = 'AMD'
os.environ['AMD_IFACE'] = 'USB'
from tinygrad.tensor import Tensor
from tinygrad.dtype import dtypes
import time
import pickl... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/parse_model_outputs.py | selfdrive/modeld/parse_model_outputs.py | import numpy as np
from openpilot.selfdrive.modeld.constants import ModelConstants
def safe_exp(x, out=None):
# -11 is around 10**14, more causes float16 overflow
return np.exp(np.clip(x, -np.inf, 11), out=out)
def sigmoid(x):
return 1. / (1. + safe_exp(-x))
def softmax(x, axis=-1):
x -= np.max(x, axis=axis,... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/dmonitoringmodeld.py | selfdrive/modeld/dmonitoringmodeld.py | #!/usr/bin/env python3
import os
from openpilot.system.hardware import TICI
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
from tinygrad.tensor import Tensor
from tinygrad.dtype import dtypes
import time
import pickle
import numpy as np
from pathlib import Path
from cereal import messaging
from cereal.messaging import ... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/fill_model_msg.py | selfdrive/modeld/fill_model_msg.py | import os
import capnp
import numpy as np
from cereal import log
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
ConfidenceClass = log.ModelDataV2.ConfidenceClass
class PublishState:
def __init__(self):
self.disengage_buffer = np.zeros(Mod... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/get_model_metadata.py | selfdrive/modeld/get_model_metadata.py | #!/usr/bin/env python3
import sys
import pathlib
import onnx
import codecs
import pickle
from typing import Any
def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
name = value_info.name
return ... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/__init__.py | selfdrive/modeld/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/models/__init__.py | selfdrive/modeld/models/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/modeld/runners/tinygrad_helpers.py | selfdrive/modeld/runners/tinygrad_helpers.py |
from tinygrad.tensor import Tensor
from tinygrad.helpers import to_mv
def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
return Tensor.from_blob(ra... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/fuzzy_generation.py | selfdrive/test/fuzzy_generation.py | import capnp
import hypothesis.strategies as st
from typing import Any
from collections.abc import Callable
from functools import cache
from cereal import log
DrawType = Callable[[st.SearchStrategy], Any]
class FuzzyGenerator:
def __init__(self, draw: DrawType, real_floats: bool):
self.draw = draw
self.na... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/update_ci_routes.py | selfdrive/test/update_ci_routes.py | #!/usr/bin/env python3
import os
import re
import subprocess
import sys
from collections.abc import Iterable
from tqdm import tqdm
from opendbc.car.tests.routes import routes as test_car_models_routes
from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
from openpilot.... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/test_updated.py | selfdrive/test/test_updated.py | import datetime
import os
import pytest
import time
import tempfile
import shutil
import signal
import subprocess
import random
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params
@pytest.mark.tici
class TestUpdated:
def setup_method(self):
self.updated_proc = None
sel... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/helpers.py | selfdrive/test/helpers.py | import contextlib
import http.server
import os
import threading
import time
import pytest
from functools import wraps
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.system.manager.process_config import managed_processes
from openpilot.system.version import training_vers... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/test_onroad.py | selfdrive/test/test_onroad.py | import math
import json
import os
import pytest
import shutil
import subprocess
import time
import numpy as np
from collections import Counter, defaultdict
from pathlib import Path
from tabulate import tabulate
from cereal import log
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from op... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/cpp_harness.py | selfdrive/test/cpp_harness.py | #!/usr/bin/env python3
import subprocess
import sys
from openpilot.common.prefix import OpenpilotPrefix
with OpenpilotPrefix():
ret = subprocess.call(sys.argv[1:])
sys.exit(ret)
| python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/__init__.py | selfdrive/test/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/capture.py | selfdrive/test/process_replay/capture.py | import os
import sys
from typing import no_type_check
class FdRedirect:
def __init__(self, file_prefix: str, fd: int):
fname = os.path.join("/tmp", f"{file_prefix}.{fd}")
if os.path.exists(fname):
os.unlink(fname)
self.dest_fd = os.open(fname, os.O_WRONLY | os.O_CREAT)
self.dest_fname = fname
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/regen_all.py | selfdrive/test/process_replay/regen_all.py | #!/usr/bin/env python3
import argparse
import concurrent.futures
import os
import random
import traceback
from tqdm import tqdm
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.selfdrive.test.process_replay.regen import regen_and_save
from openpilot.selfdrive.test.process_replay.test_processes import... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/test_processes.py | selfdrive/test/process_replay/test_processes.py | #!/usr/bin/env python3
import argparse
import concurrent.futures
import os
import sys
from collections import defaultdict
from tqdm import tqdm
from typing import Any
from opendbc.car.car_helpers import interface_names
from openpilot.common.git import get_commit
from openpilot.tools.lib.openpilotci import get_url, upl... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/regen.py | selfdrive/test/process_replay/regen.py | #!/usr/bin/env python3
import os
import argparse
import time
import capnp
from typing import Any
from collections.abc import Iterable
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/model_replay.py | selfdrive/test/process_replay/model_replay.py | #!/usr/bin/env python3
import os
import pickle
import sys
from collections import defaultdict
from typing import Any
import tempfile
from itertools import zip_longest
import matplotlib.pyplot as plt
import numpy as np
from tabulate import tabulate
from openpilot.common.git import get_commit
from openpilot.system.hard... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/migration.py | selfdrive/test/process_replay/migration.py | from collections import defaultdict
from collections.abc import Callable
from typing import cast
import capnp
import functools
import traceback
from cereal import messaging, car, log
from opendbc.car.fingerprints import MIGRATION
from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
from opendbc.car.ford.... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/vision_meta.py | selfdrive/test/process_replay/vision_meta.py | from collections import namedtuple
from msgq.visionipc import VisionStreamType
from openpilot.common.realtime import DT_MDL, DT_DMON
from openpilot.common.transformations.camera import DEVICE_CAMERAS
VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
ROAD_C... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/test_regen.py | selfdrive/test/process_replay/test_regen.py | from parameterized import parameterized
from openpilot.selfdrive.test.process_replay.regen import regen_segment
from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled
from openpilot.tools.lib.openpilotci import get_url
from openpilot.tools.lib.logreader import LogReader
from openpil... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/test_fuzzy.py | selfdrive/test/process_replay/test_fuzzy.py | import copy
import os
from hypothesis import given, HealthCheck, Phase, settings
import hypothesis.strategies as st
from parameterized import parameterized
from cereal import log
from opendbc.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
import openpilot.se... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/__init__.py | selfdrive/test/process_replay/__init__.py | from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \
replay_process, replay_process_with_name # noqa: F401
| python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/process_replay.py | selfdrive/test/process_replay/process_replay.py | #!/usr/bin/env python3
import os
import time
import copy
import heapq
import signal
from collections import Counter
from dataclasses import dataclass, field
from itertools import islice
from typing import Any
from collections.abc import Callable, Iterable
from tqdm import tqdm
import capnp
from openpilot.system.hardwar... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/process_replay/compare_logs.py | selfdrive/test/process_replay/compare_logs.py | #!/usr/bin/env python3
import sys
import math
import capnp
import numbers
import dictdiffer
from collections import Counter
from openpilot.tools.lib.logreader import LogReader
EPSILON = sys.float_info.epsilon
def remove_ignored_fields(msg, ignore):
msg = msg.as_builder()
for key in ignore:
attr = msg
ke... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py | selfdrive/test/longitudinal_maneuvers/test_longitudinal.py | import itertools
from parameterized import parameterized_class
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
# TODO: make new FCW tests
def create_maneuvers(kwargs):
maneuvers = [
Maneuver(
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/longitudinal_maneuvers/maneuver.py | selfdrive/test/longitudinal_maneuvers/maneuver.py | import numpy as np
from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
class Maneuver:
def __init__(self, title, duration, **kwargs):
# Was tempted to make a builder class
self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
self.speed = kwargs.get("initial_speed", 0.0)
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/longitudinal_maneuvers/__init__.py | selfdrive/test/longitudinal_maneuvers/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/test/longitudinal_maneuvers/plant.py | selfdrive/test/longitudinal_maneuvers/plant.py | #!/usr/bin/env python3
import time
import numpy as np
from cereal import log
import cereal.messaging as messaging
from openpilot.common.realtime import Ratekeeper, DT_MDL
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilo... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/assets/sounds/make_beeps.py | selfdrive/assets/sounds/make_beeps.py | import numpy as np
from scipy.io import wavfile
sr = 48000
max_int16 = 2**15 - 1
def harmonic_beep(freq, duration_seconds):
n_total = int(sr * duration_seconds)
signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
x = np.arange(n_total)
exp_scale = np.exp(-x/5.5e3)
return max_int16 * sign... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/assets/fonts/process.py | selfdrive/assets/fonts/process.py | #!/usr/bin/env python3
from pathlib import Path
import json
import pyray as rl
FONT_DIR = Path(__file__).resolve().parent
SELFDRIVE_DIR = FONT_DIR.parents[1]
TRANSLATIONS_DIR = SELFDRIVE_DIR / "ui" / "translations"
LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"
GLYPH_PADDING = 6
EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/radard.py | selfdrive/controls/radard.py | #!/usr/bin/env python3
import math
import numpy as np
from collections import deque
from typing import Any
import capnp
from cereal import messaging, log, car
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL, Priority, c... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/controlsd.py | selfdrive/controls/controlsd.py | #!/usr/bin/env python3
import math
from numbers import Number
from cereal import car, log
import cereal.messaging as messaging
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper
from openpilot... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/__init__.py | selfdrive/controls/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/plannerd.py | selfdrive/controls/plannerd.py | #!/usr/bin/env python3
from cereal import car
from openpilot.common.params import Params
from openpilot.common.realtime import Priority, config_realtime_process
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
from openpilot.selfdrive.controls.lib.longi... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/test_following_distance.py | selfdrive/controls/tests/test_following_distance.py | import pytest
import itertools
from parameterized import parameterized_class
from cereal import log
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
def run_following_distanc... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/test_longcontrol.py | selfdrive/controls/tests/test_longcontrol.py | from cereal import car
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
class TestLongControlStateTransition:
def test_stay_stopped(self):
CP = car.CarParams.new_message()
active = True
current_state = LongCtrlState.stopping
next_state = long_contro... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/test_latcontrol.py | selfdrive/controls/tests/test_latcontrol.py | from parameterized import parameterized
from cereal import car, log
from opendbc.car.car_helpers import interfaces
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.toyota.values import CAR as TOYOTA
from opendbc.car.nissan.values import CAR as NISSAN
from opendbc.car.gm.values import CAR as GM
from o... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/__init__.py | selfdrive/controls/tests/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/test_lateral_mpc.py | selfdrive/controls/tests/test_lateral_mpc.py | import pytest
import numpy as np
from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
def run_mpc(lat_mpc=None, v_ref=30., x_ini... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/test_leads.py | selfdrive/controls/tests/test_leads.py | import cereal.messaging as messaging
from opendbc.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.test.process_replay import replay_process_with_name
class TestLeads:
def test_radar_fault(self):
# if there's no radar-related can traffic, radard should either not respond or respond with an error... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/tests/test_torqued_lat_accel_offset.py | selfdrive/controls/tests/test_torqued_lat_accel_offset.py | import numpy as np
from cereal import car, messaging
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
from opendbc.car import structs
from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.locationd.torqued import TorqueEstimator, MIN_BU... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/longitudinal_planner.py | selfdrive/controls/lib/longitudinal_planner.py | #!/usr/bin/env python3
import math
import numpy as np
import cereal.messaging as messaging
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.constants import CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/ldw.py | selfdrive/controls/lib/ldw.py | from cereal import log
from openpilot.common.realtime import DT_CTRL
from openpilot.common.constants import CV
CAMERA_OFFSET = 0.04
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
LANE_DEPARTURE_THRESHOLD = 0.1
class LaneDepartureWarning:
def __init__(self):
self.left = False
self.right = False
self.last_blinker_fra... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/latcontrol_pid.py | selfdrive/controls/lib/latcontrol_pid.py | import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController
class LatControlPID(LatControl):
def __init__(self, CP, CI, dt):
super().__init__(CP, CI, dt)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralT... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/latcontrol_angle.py | selfdrive/controls/lib/latcontrol_angle.py | import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
# TODO This is speed dependent
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
class LatControlAngle(LatControl):
def __init__(self, CP, CI, dt):
super().__init__(CP, CI, dt)
self.sat_check_min_speed = ... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/latcontrol_torque.py | selfdrive/controls/lib/latcontrol_torque.py | import math
import numpy as np
from collections import deque
from cereal import log
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.selfdrive.controls.lib.latco... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/__init__.py | selfdrive/controls/lib/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/desire_helper.py | selfdrive/controls/lib/desire_helper.py | from cereal import log
from openpilot.common.constants import CV
from openpilot.common.realtime import DT_MDL
LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
LANE_CHANGE_TIME_MAX = 10.
DESIRES = {
LaneChangeDirection.none: {
LaneChan... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/latcontrol.py | selfdrive/controls/lib/latcontrol.py | import numpy as np
from abc import abstractmethod, ABC
class LatControl(ABC):
def __init__(self, CP, CI, dt):
self.dt = dt
self.sat_limit = CP.steerLimitTimer
self.sat_time = 0.
self.sat_check_min_speed = 10.
# we define the steer torque scale as [-1.0...1.0]
self.steer_max = 1.0
@abstra... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/drive_helpers.py | selfdrive/controls/lib/drive_helpers.py | import numpy as np
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.realtime import DT_CTRL, DT_MDL
MIN_SPEED = 1.0
CONTROL_N = 17
CAR_ROTATION_RADIUS = 0.0
# This is a turn radius smaller than most cars can achieve
MAX_CURVATURE = 0.2
MAX_VEL_ERR = 5.0 # m/s
# EU guidelines
M... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/longcontrol.py | selfdrive/controls/lib/longcontrol.py | import numpy as np
from cereal import car
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.common.pid import PIDController
from openpilot.selfdrive.modeld.constants import ModelConstants
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | #!/usr/bin/env python3
import os
import time
import numpy as np
from casadi import SX, vertcat, sin, cos
# WARNING: imports outside of constants will not trigger a rebuild
from openpilot.selfdrive.modeld.constants import ModelConstants
if __name__ == '__main__': # generating code
from openpilot.third_party.acados.... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/lateral_mpc_lib/__init__.py | selfdrive/controls/lib/lateral_mpc_lib/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | #!/usr/bin/env python3
import os
import time
import numpy as np
from cereal import log
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.realtime import DT_MDL
from openpilot.common.swaglog import cloudlog
# WARNING: imports outside of constants will not trigger a rebuild
from openpilot.self... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py | selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/car_specific.py | selfdrive/car/car_specific.py | from cereal import car, log
from opendbc.car import DT_CTRL, structs
from opendbc.car.car_helpers import interfaces
from opendbc.car.interfaces import MAX_CTRL_SPEED
from openpilot.selfdrive.selfdrived.events import Events
ButtonType = structs.CarState.ButtonEvent.Type
GearShifter = structs.CarState.GearShifter
Event... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/cruise.py | selfdrive/car/cruise.py | import math
import numpy as np
from cereal import car
from openpilot.common.constants import CV
# WARNING: this value was determined based on the model's training distribution,
# model predictions above this speed can be unpredictable
# V_CRUISE's are in kph
V_CRUISE_MIN = 8
V_CRUISE_MAX = 145
V_CRUISE_UNSE... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/card.py | selfdrive/car/card.py | #!/usr/bin/env python3
import os
import time
import threading
import cereal.messaging as messaging
from cereal import car, log
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
from openpilot.common.swaglog import cloudlog, ForwardingHandle... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/__init__.py | selfdrive/car/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/docs.py | selfdrive/car/docs.py | #!/usr/bin/env python3
import argparse
import os
from openpilot.common.basedir import BASEDIR
from opendbc.car.docs import get_all_car_docs, generate_cars_md
CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
if __name__ == "__main_... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/tests/test_car_interfaces.py | selfdrive/car/tests/test_car_interfaces.py | import os
import hypothesis.strategies as st
from hypothesis import Phase, given, settings
from parameterized import parameterized
from cereal import car
from opendbc.car import DT_CTRL
from opendbc.car.structs import CarParams
from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
from opendbc.car.... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/tests/test_docs.py | selfdrive/car/tests/test_docs.py | import os
from openpilot.common.basedir import BASEDIR
from opendbc.car.docs import generate_cars_md, get_all_car_docs
from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/tests/test_models.py | selfdrive/car/tests/test_models.py | import time
import os
import pytest
import random
import unittest # noqa: TID251
from collections import defaultdict, Counter
import hypothesis.strategies as st
from hypothesis import Phase, given, settings
from parameterized import parameterized_class
from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
fr... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/tests/__init__.py | selfdrive/car/tests/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/car/tests/test_cruise_speed.py | selfdrive/car/tests/test_cruise_speed.py | import pytest
import itertools
import numpy as np
from parameterized import parameterized_class
from cereal import log
from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
from cereal import car
from openpilot.common.constants import CV
from openpil... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/monitoring/dmonitoringd.py | selfdrive/monitoring/dmonitoringd.py | #!/usr/bin/env python3
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
def dmonitoringd_thread():
config_realtime_process([0, 1, 2, 3], 5)
params = Par... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/monitoring/helpers.py | selfdrive/monitoring/helpers.py | from math import atan2
import numpy as np
from cereal import car, log
import cereal.messaging as messaging
from openpilot.selfdrive.selfdrived.events import Events
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.common.realtime import DT_DMON
from openpilot.common.filter_simple... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/monitoring/test_monitoring.py | selfdrive/monitoring/test_monitoring.py | import numpy as np
from cereal import log
from openpilot.common.realtime import DT_DMON
from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS
from openpilot.system.hardware import HARDWARE
EventName = log.OnroadEvent.EventName
dm_settings = DRIVER_MONITOR_SETTINGS(device_type=HA... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/calibrationd.py | selfdrive/locationd/calibrationd.py | #!/usr/bin/env python3
'''
This process finds calibration values. More info on what these calibration values
are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
While the roll calibration is a real value that can be estimated, here we assume it's zero,
and the image input into ... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/locationd.py | selfdrive/locationd/locationd.py | #!/usr/bin/env python3
import os
import time
import capnp
import numpy as np
from enum import Enum
from collections import defaultdict
from cereal import log, messaging
from cereal.services import SERVICE_LIST
from openpilot.common.transformations.orientation import rot_from_euler
from openpilot.common.realtime import... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/torqued.py | selfdrive/locationd/torqued.py | #!/usr/bin/env python3
import os
import numpy as np
from collections import deque, defaultdict
import cereal.messaging as messaging
from cereal import car, log
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.params import Params
from openpilot.common.realtime import config_real... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/lagd.py | selfdrive/locationd/lagd.py | #!/usr/bin/env python3
import os
import numpy as np
import capnp
from collections import deque
from functools import partial
import cereal.messaging as messaging
from cereal import car, log
from cereal.services import SERVICE_LIST
from openpilot.common.params import Params
from openpilot.common.realtime import config_... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/helpers.py | selfdrive/locationd/helpers.py | import numpy as np
from typing import Any
from functools import cache
from cereal import log
from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
@cache
def fft_next_good_size(n: int) -> int:
"""
smallest composite of 2, 3, 5, 7, 11 that is >= n
inspired by pocketfft
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/paramsd.py | selfdrive/locationd/paramsd.py | #!/usr/bin/env python3
import os
import numpy as np
import capnp
import cereal.messaging as messaging
from cereal import car, log
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.selfdrive.locationd.models.car_kf import CarKalman, Observati... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/__init__.py | selfdrive/locationd/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/test/test_torqued.py | selfdrive/locationd/test/test_torqued.py | from cereal import car
from openpilot.selfdrive.locationd.torqued import TorqueEstimator
def test_cal_percent():
est = TorqueEstimator(car.CarParams())
msg = est.get_msg()
assert msg.liveTorqueParameters.calPerc == 0
for (low, high), min_pts in zip(est.filtered_points.buckets.keys(),
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/test/test_paramsd.py | selfdrive/locationd/test/test_paramsd.py | import random
import numpy as np
from cereal import messaging
from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
from openpilot.selfdrive.locationd.models.car_kf import CarKalman
from openpilot.selfdrive.locationd.test.test_locationd_scenarios imp... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/test/test_calibrationd.py | selfdrive/locationd/test/test_calibrationd.py | import random
import numpy as np
import cereal.messaging as messaging
from cereal import log
from openpilot.common.params import Params
from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/test/test_locationd_scenarios.py | selfdrive/locationd/test/test_locationd_scenarios.py | import numpy as np
from collections import defaultdict
from enum import Enum
from openpilot.tools.lib.logreader import LogReader
from openpilot.selfdrive.test.process_replay.migration import migrate_all
from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name
# TODO find a new segme... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/test/test_lagd.py | selfdrive/locationd/test/test_lagd.py | import random
import numpy as np
import time
import pytest
from cereal import messaging, log, car
from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/test/__init__.py | selfdrive/locationd/test/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false | |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/models/constants.py | selfdrive/locationd/models/constants.py | import os
GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
class ObservationKind:
UNKNOWN = 0
NO_OBSERVATION = 1
GPS_NED = 2
ODOMETRIC_SPEED = 3
PHONE_GYRO = 4
GPS_VEL = 5
PSEUDORANGE_GPS = 6
PSEUDORANGE_RATE_GPS = 7
SPEED = 8
NO_ROT = 9
PHONE_ACCEL = 10
OR... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/models/car_kf.py | selfdrive/locationd/models/car_kf.py | #!/usr/bin/env python3
import math
import sys
from typing import Any
import numpy as np
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.locationd.models.constants import ObservationKind
from openpilot.common.swaglog import cloudlog
from rednose.helpers.kalmanfilter import ... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/models/pose_kf.py | selfdrive/locationd/models/pose_kf.py | #!/usr/bin/env python3
import sys
import numpy as np
from openpilot.selfdrive.locationd.models.constants import ObservationKind
from rednose.helpers.kalmanfilter import KalmanFilter
if __name__=="__main__":
import sympy as sp
from rednose.helpers.ekf_sym import gen_code
from rednose.helpers.sympy_helpers impo... | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
commaai/openpilot | https://github.com/commaai/openpilot/blob/adbf68f77120b4568de68c37b8bed4ed433e01fe/selfdrive/locationd/models/__init__.py | selfdrive/locationd/models/__init__.py | python | MIT | adbf68f77120b4568de68c37b8bed4ed433e01fe | 2026-01-04T14:38:40.093933Z | false |
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